def __init__(self, view, affordanceManager, ikServer, jointController, raycastDriver):
self.view = view
self.affordanceManager = affordanceManager
self.ikServer = ikServer
self.jointController = jointController
self.raycastDriver = raycastDriver
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddAffordancePanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.ui.affordanceListWidget.hide()
self.ui.spawnBoxButton.connect('clicked()', self.onSpawnBox)
self.ui.spawnSphereButton.connect('clicked()', self.onSpawnSphere)
self.ui.spawnCylinderButton.connect('clicked()', self.onSpawnCylinder)
self.ui.spawnCapsuleButton.connect('clicked()', self.onSpawnCapsule)
self.ui.spawnRingButton.connect('clicked()', self.onSpawnRing)
self.ui.spawnMeshButton.connect('clicked()', self.onSpawnMesh)
self.ui.getRaycastTerrainButton.connect('clicked()', self.onGetRaycastTerrain)
self.eventFilter = PythonQt.dd.ddPythonEventFilter()
self.ui.scrollArea.installEventFilter(self.eventFilter)
self.eventFilter.addFilteredEventType(QtCore.QEvent.Resize)
self.eventFilter.connect('handleEvent(QObject*, QEvent*)', self.onEvent)
self.updateTimer = TimerCallback(targetFps=30)
self.updateTimer.callback = self.updatePanel
self.updateTimer.start()
def __init__(self, view):
self.view = view
self.trackerManager = cameracontrol.CameraTrackerManager()
self.trackerManager.setView(view)
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddCameraControlPanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.ui.targetNameLabel.setText('None')
self.ui.setTargetButton.connect('clicked()', self.onSetTarget)
for modeName in self.trackerManager.trackers.keys():
self.ui.trackModeCombo.addItem(modeName)
self.ui.trackModeCombo.connect('currentIndexChanged(const QString&)', self.onTrackModeChanged)
self.ui.controlFrame.setEnabled(False)
l = self.ui.propertiesFrame.layout()
self.propertiesPanel = PythonQt.dd.ddPropertiesPanel()
self.propertiesPanel.setBrowserModeToWidget()
l.addWidget(self.propertiesPanel)
self.panelConnector = None
self.objectPicker = pointpicker.ObjectPicker(self.view)
self.objectPicker.callbackFunc = self.onPickObject
self.objectPicker.abortFunc = self.onAbortPick
def __init__(self, materialData):
self.materialData = materialData
uiPath = os.path.join(os.path.dirname(os.path.abspath(__file__)), "ui")
uiFileName = os.path.join(uiPath, "SingleMaterialEditorWidget.ui")
l = QtUiTools.QUiLoader()
l.setWorkingDirectory(QtCore.QDir(uiPath))
self.ui = l.load(QtCore.QFile(str(uiFileName)))
findChild = lambda name: self.ui.findChild(PythonQt.QtCore.QObject, name)
self.scriptTextEditor = findChild("scriptTextEdit")
self.highlighter = PythonHighlighter.PythonHighlighter(self.scriptTextEditor)
self.scriptTextEditor.setText(materialData.scriptData)
self.scriptTextEditor.connect('textChanged()', self.saveScriptText)
self.helpButton = findChild("helpButton")
self.helpButton.connect('clicked(bool)', self.showHelpTooltip)
self.inputVariableComboBox = findChild("inputVariableComboBox")
self.inputVariableComboBox.setCurrentIndex(self.materialData.tableData.inputVariableType)
self.inputVariableComboBox.connect('currentIndexChanged(int)', self.setInputVariableType)
self.representationComboBox = findChild("representationComboBox")
self.customMaterialFrame = findChild("customMaterialFrame")
self.overrideCheckBox = findChild("overrideCheckBox")
if materialData.representation == RepresentationType.Constant:
self.customMaterialFrame.hide()
else:
self.overrideCheckBox.setChecked(True)
self.representationComboBox.setCurrentIndex(materialData.representation)
self.overrideCheckBox.connect('toggled(bool)', self.enableRepresentationOverride)
self.representationComboBox.connect('currentIndexChanged(int)', self.setRepresentationByComboBoxIndex)
self.materialNameLineEdit = findChild("materialNameLineEdit")
self.materialNameLineEdit.setText(materialData.name)
self.tableWidget = findChild("tableWidget")
findChild("addRowBeforeButton").connect('clicked(bool)', self.addRowBefore)
findChild("addRowAfterButton").connect('clicked(bool)', self.addRowAfter)
findChild("removeRowsButton").connect('clicked(bool)', self.removeRows)
findChild("loadTableButton").connect('clicked(bool)', self.loadTableFromFile)
findChild("saveTableButton").connect('clicked(bool)', self.saveTableToFile)
class DoubleValueDelegate(QtGui.QItemDelegate):
def createEditor(self, parent, option, index):
le = QtGui.QLineEdit(parent)
le.setValidator(QtGui.QDoubleValidator(le))
return le
self.doubleValueDelegate = DoubleValueDelegate()
self.tableWidget.setItemDelegate(self.doubleValueDelegate)
self.fillingTable = False
self.fillTableFromData()
self.tableWidget.model().connect('dataChanged(QModelIndex, QModelIndex)', self.fillDataFromTable)
self.tableWidget.model().connect('rowsRemoved(QModelIndex, int, int)', self.fillDataFromTable)
def __init__(self, netlistBC):
self.netlistBC = netlistBC
uiPath = os.path.join(os.path.dirname(os.path.abspath(__file__)), "ui")
uiFileName = os.path.join(uiPath, "NetlistBCEditorWidget.ui")
l = QtUiTools.QUiLoader()
l.setWorkingDirectory(QtCore.QDir(uiPath))
self.ui = l.load(QtCore.QFile(str(uiFileName)))
netlistEditorLaunchButton = self.ui.findChild(PythonQt.QtCore.QObject, "launchEditorButton")
netlistEditorLaunchButton.connect('clicked(bool)', self.launchEditor)
netlistLoadFileButton = self.ui.findChild(PythonQt.QtCore.QObject, "loadCircuitButton")
netlistLoadFileButton.connect('clicked(bool)', self.loadCircuit)
netlistLoadScriptButton = self.ui.findChild(PythonQt.QtCore.QObject, "loadAdjustmentScriptButton")
netlistLoadScriptButton.connect('clicked(bool)', self.loadAdjustmentScript)
netlistLoadAdditionalDatFileButton = self.ui.findChild(PythonQt.QtCore.QObject, "loadDataFileButton")
netlistLoadAdditionalDatFileButton.connect('clicked(bool)', self.loadAdditionalDatFile)
removeButton = self.ui.findChild(PythonQt.QtCore.QObject, "removeButton")
removeButton.connect('clicked(bool)', self.removeSelected)
self.fileContentsViewer = self.ui.findChild(PythonQt.QtCore.QObject, "scriptContestTextEdit")
self.scriptListTable = self.ui.findChild(PythonQt.QtCore.QObject, "scriptListTable")
self.scriptListTable.connect('currentCellChanged(int, int, int, int)', self.showContents)
self.recreateSavedState()
def __init__(self, view):
self.view = view
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddFrameVisualization.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.botFrameUpdater = BotFrameUpdater(self.ui.botFramesListWidget)
robotModel = om.findObjectByName('robot state model')
self.linkFrameUpdater = LinkFrameUpdater(robotModel,
self.ui.linkFramesListWidget)
self.eventFilter = PythonQt.dd.ddPythonEventFilter()
self.ui.scrollArea.installEventFilter(self.eventFilter)
self.eventFilter.addFilteredEventType(QtCore.QEvent.Resize)
self.eventFilter.connect('handleEvent(QObject*, QEvent*)',
self.onEvent)
PythonQt.dd.ddGroupBoxHider(self.ui.botFramesGroup)
PythonQt.dd.ddGroupBoxHider(self.ui.linkFramesGroup)
self.updateTimer = TimerCallback(targetFps=60)
self.updateTimer.callback = self.updateFrames
self.updateTimer.start()
def createUI(self):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddCameraPanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.widget.setWindowTitle("Camera Visualizer")
self.ui.gridLayout_2.setSpacing(0)
self.ui.gridLayout_2.setMargin(0)
view = self.createCameraView('CAMERACHEST_LEFT')
frame1Layout = QtGui.QVBoxLayout(self.ui.frame1)
frame1Layout.setSpacing(0)
frame1Layout.setMargin(0)
frame1Layout.addWidget(view)
view = self.createCameraView('CAMERA_LEFT')
frame2Layout = QtGui.QVBoxLayout(self.ui.frame2)
frame2Layout.setSpacing(0)
frame2Layout.setMargin(0)
frame2Layout.addWidget(view)
view = self.createCameraView('CAMERACHEST_RIGHT')
frame3Layout = QtGui.QVBoxLayout(self.ui.frame3)
frame3Layout.setSpacing(0)
frame3Layout.setMargin(0)
frame3Layout.addWidget(view)
def __init__(self, jointController, footstepDriver):
self.jointController = jointController
self.footstepDriver = footstepDriver
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddNavigation.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.ui.captureButton.connect("clicked()", self.onCaptureButton)
self.ui.visualizeButton.connect("clicked()", self.onVisualizeButton)
self.ui.planButton.connect("clicked()", self.onPlanButton)
self.ui.reversePlanButton.connect("clicked()", self.onReversePlanButton)
self.ui.initAtZeroButton.connect("clicked()", self.onInitAtZeroButton)
self.ui.restartNavButton.connect("clicked()", self.onRestartNavButton)
self.ui.showMapButton.connect("clicked()", self.onShowMapButton)
self.ui.hideMapButton.connect("clicked()", self.onHideMapButton)
self.ui.disableLaserButton.connect("clicked()", self.onDisableLaserButton)
self.ui.enableLaserButton.connect("clicked()", self.onEnableLaserButton)
self.ui.startNewMapButton.connect("clicked()", self.onStartNewMapButton)
self.ui.useNewMapButton.connect("clicked()", self.onUseNewMapButton)
# Data Variables:
self.goal = dict()
self.init_frame = None
self.octomap_cloud = None
def __init__(self, lDriver, rDriver, robotStateModel, robotStateJointController, view):
self.robotStateModel = robotStateModel
self.robotStateJointController = robotStateJointController
self.drivers = {}
self.drivers['left'] = lDriver
self.drivers['right'] = rDriver
self.storedCommand = {'left': None, 'right': None}
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddHandControl.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self._updateBlocked = True
self.widget.advanced.sendButton.setEnabled(True)
# Store calibration for wrist f/t sensors
self.wristftvis = WristForceTorqueVisualizer(robotStateModel, robotStateJointController, view)
# connect the callbacks
self.widget.basic.openButton.clicked.connect(self.openClicked)
self.widget.basic.closeButton.clicked.connect(self.closeClicked)
self.widget.basic.waitOpenButton.clicked.connect(self.waitOpenClicked)
self.widget.basic.waitCloseButton.clicked.connect(self.waitCloseClicked)
self.widget.advanced.sendButton.clicked.connect(self.sendClicked)
self.widget.advanced.calibrateButton.clicked.connect(self.calibrateClicked)
self.widget.advanced.setModeButton.clicked.connect(self.setModeClicked)
self.widget.advanced.regraspButton.clicked.connect(self.regraspClicked)
self.widget.advanced.dropButton.clicked.connect(self.dropClicked)
self.widget.advanced.repeatRateSpinner.valueChanged.connect(self.rateSpinnerChanged)
self.ui.fingerControlButton.clicked.connect(self.fingerControlButton)
self.widget.sensors.rightTareButton.clicked.connect(self.wristftvis.tareRightFT)
self.widget.sensors.leftTareButton.clicked.connect(self.wristftvis.tareLeftFT)
self.widget.sensors.rightCalibButton.clicked.connect(self.wristftvis.calibRightFT)
self.widget.sensors.leftCalibButton.clicked.connect(self.wristftvis.calibLeftFT)
self.widget.sensors.rightCalibClearButton.clicked.connect(self.wristftvis.calibRightClearFT)
self.widget.sensors.leftCalibClearButton.clicked.connect(self.wristftvis.calibLeftClearFT)
self.widget.sensors.rightVisCheck.clicked.connect(self.updateWristFTVis)
self.widget.sensors.leftVisCheck.clicked.connect(self.updateWristFTVis)
self.widget.sensors.torqueVisCheck.clicked.connect(self.updateWristFTVis)
PythonQt.dd.ddGroupBoxHider(self.ui.sensors)
PythonQt.dd.ddGroupBoxHider(self.ui.fingerControl)
# Bug fix... for some reason one slider is set as disabled
self.ui.fingerASlider.setEnabled(True)
# create a timer to repeat commands
self.updateTimer = TimerCallback()
self.updateTimer.callback = self.updatePanel
self.updateTimer.targetFps = 3
self.updateTimer.start()
def loadUi(filename):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(filename)
assert uifile.open(uifile.ReadOnly)
widget = loader.load(uifile)
ui = WidgetDict(widget.children())
return widget, ui
def showDialog(mainWindow):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/vvResources/vvAboutDialog.ui')
if not uifile.open(uifile.ReadOnly):
print("Canno't open the ui for the about dialog.")
return
dialog = loader.load(uifile, mainWindow)
uifile.close()
dialog.setModal(True)
def w(name):
for widget in dialog.children():
if widget.objectName == name:
return widget
image = w('splashLabel')
splash = image.pixmap.scaled(image.pixmap.width() / 2.0,
image.pixmap.height() / 2.0)
image.setPixmap(splash)
image.adjustSize()
copyrightText = '''<h1>VeloView {0}</h1><br/>
Copyright (c) 2017, Velodyne Lidar<br />
Provided by <a href="http://velodynelidar.com/">Velodyne Lidar</a>, coded by <a href="https://www.kitware.com/">Kitware</a>.<br />
<br />
Sample Data Repository: <a href="http://midas3.kitware.com/midas/community/29">http://midas3.kitware.com/midas/community/29</a>
'''.format(" ".join(mainWindow.windowTitle.split(" ")[1:]))
w('copyrightLabel').setText(copyrightText)
textBoxContent = '''<h4>Want more ? Ask Kitware !</h4>
Kitware Inc. is a leading provider of open-source software systems for technical and scientific computing.
We are the developers of VeloView, providing real-time interactive visualization of live captured 3D LiDAR
data from Velodyne's sensors. We create customized solutions providing detection and tracking of people,
street signs, lane markings, vehicles, industrial machinery, and building facades from within VeloView or using
combinations of point cloud and video data. We also provide Lidar-based SLAM algorithms for other Velodyne's integrators.
We work with customers to create tailored solutions using proven open-source
technologies, avoiding vendor lock-in and leveraging our world-leading experience in visualization, computer vision, high-performance
computing, and test-driven high-quality software process.<br />
<br />
<br />
Have a look at <a href="https://www.kitware.com/our-expertise/">our expertise</a>, and for more information, please contact us:
<a href="mailto:[email protected]?subject=Contact+about+VeloView">[email protected]</a>
'''
w('detailsLabel').setText(textBoxContent)
button = w('closeButton')
closeIcon = QtGui.QApplication.style().standardIcon(
QtGui.QStyle.SP_DialogCloseButton)
button.setIcon(closeIcon)
button.connect(button, QtCore.SIGNAL('clicked()'), dialog,
QtCore.SLOT('close()'))
dialog.adjustSize()
dialog.setFixedSize(dialog.size)
dialog.exec_()
def __init__(self, planningUtils, robotStateModel,
robotStateJointController, teleopRobotModel,
teleopJointController, ikPlanner, manipPlanner,
affordanceManager, showPlanFunction, hidePlanFunction,
footDriver):
self.planningUtils = planningUtils
self.robotStateModel = robotStateModel
self.robotStateJointController = robotStateJointController
self.teleopRobotModel = teleopRobotModel
self.teleopJointController = teleopJointController
self.ikPlanner = ikPlanner
self.manipPlanner = manipPlanner
self.affordanceManager = affordanceManager
self.showPlanFunction = showPlanFunction
self.hidePlanFunction = hidePlanFunction
self.footDriver = footDriver
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddMotionPlanningPanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
# Check motion planning mode
self.ui.mpModeButton.connect('clicked()', self.onMotionPlanningMode)
# End-pose planning
self.ui.handCombo.connect('currentIndexChanged(const QString&)',
self.onHandChanged)
self.ui.baseComboBox.connect('currentIndexChanged(const QString&)',
self.onBaseConstraintChanged)
self.ui.backComboBox.connect('currentIndexChanged(const QString&)',
self.onBackConstraintChanged)
self.ui.feetComboBox.connect('currentIndexChanged(const QString&)',
self.onFeetConstraintChanged)
self.ui.otherHandComboBox.connect(
'currentIndexChanged(const QString&)',
self.onOtherHandConstraintChanged)
self.ui.fpButton.connect('clicked()', self.onSearchFinalPose)
if 'kneeJointLimits' in drcargs.getDirectorConfig():
self.kneeJointLimits = drcargs.getDirectorConfig(
)['kneeJointLimits']
self.constraintSet = None
self.palmOffsetDistance = 0.0
# Foot step planning
self.placer = None
self.ui.walkingPlanButton.connect('clicked()', self.onWalkingPlan)
self.ui.teleportRobotButton.connect('clicked()',
self.onTeleportRobotToStanceFrame)
# Motion Planning
self.ui.motionPlanButton.connect('clicked()', self.onMotionPlan)
self.deactivate()
def loadUi(self):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddVideoPlayer.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
uifile.close()
self.ui = WidgetDict(self.widget.children())
def __init__(self, filename, windowTitle=None):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/' + filename)
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
if windowTitle is not None:
self.widget.setWindowTitle(windowTitle)
def __init__(self, driver):
self.driver = driver
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddAtlasDriverPanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.widget.setWindowTitle('Atlas Driver Panel')
self.ui = WidgetDict(self.widget.children())
# Main Panel
self.ui.calibrateEncodersButton.connect('clicked()',
self.onCalibrateEncoders)
self.ui.prepButton.connect('clicked()', self.onPrep)
self.ui.combinedStandButton.connect('clicked()', self.onCombinedStand)
self.ui.stopButton.connect('clicked()', self.onStop)
self.ui.freezeButton.connect('clicked()', self.onFreeze)
self.ui.calibrateNullBiasButton.connect('clicked()',
self.onCalibrateNullBias)
self.ui.calibrateElectricArmsButton.connect(
'clicked()', self.onCalibrateElectricArms)
self.ui.initNavButton.connect('clicked()', self.onInitNav)
self.ui.standButton.connect('clicked()', self.onStand)
self.ui.mitStandButton.connect('clicked()', self.onMITStand)
self.ui.userButton.connect('clicked()', self.onUser)
self.ui.manipButton.connect('clicked()', self.onManip)
self.ui.recoveryOnButton.connect('clicked()',
self.driver.sendRecoveryEnable)
self.ui.recoveryOffButton.connect('clicked()',
self.driver.sendRecoveryDisable)
self.ui.bracingOnButton.connect('clicked()',
self.driver.sendBracingEnable)
self.ui.bracingOffButton.connect('clicked()',
self.driver.sendBracingDisable)
for psi in [1000, 1500, 2000, 2400, 2650]:
self.ui.__dict__['setPressure' + str(psi) + 'Button'].connect(
'clicked()', partial(self.driver.sendDesiredPumpPsi, psi))
self.ui.sendCustomPressureButton.connect('clicked()',
self.sendCustomPressure)
self.setupElectricArmCheckBoxes()
PythonQt.dd.ddGroupBoxHider(self.ui.calibrationGroupBox)
PythonQt.dd.ddGroupBoxHider(self.ui.pumpStatusGroupBox)
PythonQt.dd.ddGroupBoxHider(self.ui.electricArmStatusGroupBox)
self.updateTimer = TimerCallback(targetFps=5)
self.updateTimer.callback = self.updatePanel
self.updateTimer.start()
self.updatePanel()
def __init__(self, materials):
self.materials = materials
uiFileName = os.path.join(os.path.dirname(os.path.abspath(__file__)),
"ui", "MaterialEditorWidget.ui")
self.ui = QtUiTools.QUiLoader().load(QtCore.QFile(str(uiFileName)))
self.materialsWidget = self.ui
self.singleMaterialEditors = [SingleMaterialEditor(m) for m in self.materials]
for e in self.singleMaterialEditors:
self.materialsWidget.layout().addWidget(e.ui)
self.materialsWidget.layout().addStretch()
def __init__(self, view, imageWidget):
self.view = view
self.imageWidget = imageWidget
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(":/ui/ddScreenGrabber.ui")
assert uifile.open(uifile.ReadOnly)
self.frameCount = 0
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.ui.lockViewSizeCheck.connect("clicked()", self.onLockViewSize)
self.ui.screenshotOutputBrowseButton.connect(
"clicked()", self.onChooseScreenshotOutputDir
)
self.ui.movieOutputBrowseButton.connect(
"clicked()", self.onChooseMovieOutputDir
)
self.ui.saveScreenshotButton.connect("clicked()", self.onSaveScreenshot)
self.ui.recordMovieButton.connect("clicked()", self.onRecordMovie)
self.ui.viewSizeCombo.connect(
"currentIndexChanged(const QString&)", self.updateViewSize
)
self.ui.viewHeightSpin.connect("valueChanged(int)", self.onViewSizeChanged)
self.ui.viewWidthSpin.connect("valueChanged(int)", self.onViewSizeChanged)
self.ui.imageWidgetWidthSpin.connect(
"valueChanged(int)", self.onimageWidgetWidthChanged
)
self.ui.showMainImageCheck.connect(
"clicked()", self.onShowMainImageCheckChanged
)
self.updateViewSize()
self.onLockViewSize()
self.recordTimer = QtCore.QTimer()
self.recordTimer.connect("timeout()", self.onRecordTimer)
self.fpsCounter = FPSCounter()
self.eventFilter = PythonQt.dd.ddPythonEventFilter()
self.ui.scrollArea.installEventFilter(self.eventFilter)
self.eventFilter.addFilteredEventType(QtCore.QEvent.Resize)
self.eventFilter.connect("handleEvent(QObject*, QEvent*)", self.onEvent)
def __init__(self, windowTitle='Task Panel'):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddTaskUserPanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.widget.setWindowTitle(windowTitle)
self.manualButtons = {}
self.imageViewLayout = QtGui.QHBoxLayout(self.ui.imageFrame)
self._setupParams()
self._setupPropertiesPanel()
self._initTaskPanel()
def showDialog(mainWindow, grid):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/VelodyneHDLPlugin/vvGridAdjustmentDialog.ui')
if not uifile.open(uifile.ReadOnly):
print 'error opening file'
return
dialog = loader.load(uifile, mainWindow)
uifile.close()
def w(name):
for widget in dialog.children():
if widget.objectName == name:
return widget
w('SensorUpX').setValue(grid.Normal[0])
w('SensorUpY').setValue(grid.Normal[1])
w('SensorUpZ').setValue(grid.Normal[2])
w('SensorOriginX').setValue(-grid.Origin[0])
w('SensorOriginY').setValue(-grid.Origin[1])
w('SensorOriginZ').setValue(-grid.Origin[2])
w('GridResolution').setValue(grid.Scale)
w('GridWidth').setValue(grid.Scale * grid.GridSize)
accepted = dialog.exec_()
if not accepted:
return False
grid.Normal = [
w('SensorUpX').value,
w('SensorUpY').value,
w('SensorUpZ').value
]
grid.Origin = [
-w('SensorOriginX').value, -w('SensorOriginY').value,
-w('SensorOriginZ').value
]
grid.Scale = w('GridResolution').value
grid.GridSize = int(
math.ceil(w('GridWidth').value / w('GridResolution').value))
return True
def __init__(self, jointController, footstepDriver):
self.jointController = jointController
self.footstepDriver = footstepDriver
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddMapping.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.ui.startMappingButton.connect("clicked()", self.onStartMappingButton)
self.ui.stopMappingButton.connect("clicked()", self.onStopMappingButton)
self.ui.showMapButton.connect("clicked()", self.onShowMapButton)
self.ui.hideMapButton.connect("clicked()", self.onHideMapButton)
self.queue = PythonQt.dd.ddBotImageQueue(lcmUtils.getGlobalLCMThread())
self.queue.init(lcmUtils.getGlobalLCMThread(), drcargs.args().config_file)
def __init__(self, robotSystem):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddJointCommandPanel.ui')
assert uifile.open(uifile.ReadOnly)
self.robotSystem = robotSystem
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.ui.streamingButton.connect('clicked()', self.onStreamingClicked)
self.ui.resetButton.connect('clicked()', self.onResetClicked)
self.ui.hidePreviewButton.connect('clicked()', self.onHidePreviewClicked)
self.ui.previewSlider.connect('valueChanged(int)', self.onPreviewSliderChanged)
self.ui.speedSpinBox.connect('valueChanged(double)', self.onSpeedChanged)
self.hidePreviewModels()
self.throttleControlEnabled = False
self.steeringControlEnabled = False
def __init__(self, multisenseDriver, neckDriver):
self.multisenseDriver = multisenseDriver
self.neckDriver = neckDriver
self.neckPitchChanged = False
self.multisenseChanged = False
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddMultisense.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.updateTimer = TimerCallback(targetFps=2)
self.updateTimer.callback = self.updatePanel
self.updateTimer.start()
self.widget.headCamGainSpinner.setEnabled(False)
self.widget.headCamExposureSpinner.setEnabled(False)
#connect the callbacks
self.widget.neckPitchSpinner.valueChanged.connect(self.neckPitchChange)
self.widget.spinRateSpinner.valueChanged.connect(self.spinRateChange)
self.widget.scanDurationSpinner.valueChanged.connect(
self.scanDurationChange)
self.widget.headCamFpsSpinner.valueChanged.connect(
self.headCamFpsChange)
self.widget.headCamGainSpinner.valueChanged.connect(
self.headCamGainChange)
self.widget.headCamExposureSpinner.valueChanged.connect(
self.headCamExposureChange)
self.widget.headAutoGainCheck.clicked.connect(
self.headCamAutoGainChange)
self.widget.ledOnCheck.clicked.connect(self.ledOnCheckChange)
self.widget.ledBrightnessSpinner.valueChanged.connect(
self.ledBrightnessChange)
self.widget.sendButton.clicked.connect(self.sendButtonClicked)
self.updatePanel()
def __init__(self, driver, robotModel, jointController, irisDriver):
self.driver = driver
self.robotModel = robotModel
self.jointController = jointController
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddFootsteps.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.placer = None
self.irisDriver = irisDriver
self.region_seed_frames = []
self.ui = WidgetDict(self.widget.children())
self.ui.walkingGoalButton.connect("clicked()", self.onNewWalkingGoal)
self.ui.walkingPlanButton.connect("clicked()", self.onShowWalkingPlan)
self.ui.stopButton.connect("clicked()", self.onStop)
self.ui.simulateDrakeButton.connect("clicked()", self.onSimulateDrake)
self.ui.haltSimulationDrakeButton.connect("clicked()",
self.onHaltSimulationDrake)
self.ui.restoreDefaultsButton.connect("clicked()",
lambda: self.applyDefaults())
self.ui.showWalkingVolumesCheck.connect("clicked()",
self.onShowWalkingVolumes)
### BDI frame logic
self.ui.hideBDIButton.setVisible(False)
self.ui.showBDIButton.setVisible(False)
self.ui.hideBDIButton.connect("clicked()", self.onHideBDIButton)
self.ui.showBDIButton.connect("clicked()", self.onShowBDIButton)
self.ui.newRegionSeedButton.connect("clicked()", self.onNewRegionSeed)
self.ui.autoIRISSegmentationButton.connect("clicked()",
self.onAutoIRISSegmentation)
self._setupPropertiesPanel()
def __init__(self):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddSensorDataRequest.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self._updateBlocked = True
self.groups = {}
self.registerType('camHead', data_request_t.CAMERA_IMAGE_HEAD_LEFT)
self.registerType('camChestLeft', data_request_t.CAMERA_IMAGE_LCHEST)
self.registerType('camChestRight', data_request_t.CAMERA_IMAGE_RCHEST)
self.registerType('mapSceneHeight', data_request_t.HEIGHT_MAP_SCENE)
self.registerType('mapSceneDepth', data_request_t.DEPTH_MAP_SCENE)
self.registerType('mapWorkspaceDepth',
data_request_t.DEPTH_MAP_WORKSPACE_C)
self.registerType('mapFusedStereoHeight', data_request_t.FUSED_HEIGHT)
self.widget.applyAllButton.clicked.connect(self.applyAllButtonClicked)
def __init__(self, view):
self.view = view
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddScreenGrabber.ui')
assert uifile.open(uifile.ReadOnly)
self.frameCount = 0
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self.ui.syncFrameRateToDrawMessageCheck.connect('clicked()', self.onSyncFrameRateToDrawMessages)
self.ui.lockViewSizeCheck.connect('clicked()', self.onLockViewSize)
self.ui.screenshotOutputBrowseButton.connect('clicked()', self.onChooseScreenshotOutputDir)
self.ui.movieOutputBrowseButton.connect('clicked()', self.onChooseMovieOutputDir)
self.ui.saveScreenshotButton.connect('clicked()', self.onSaveScreenshot)
self.ui.recordMovieButton.connect('clicked()', self.onRecordMovie)
self.ui.viewSizeCombo.connect('currentIndexChanged(const QString&)', self.updateViewSize)
self.ui.viewHeightSpin.connect('valueChanged(int)', self.onViewSizeChanged)
self.ui.viewWidthSpin.connect('valueChanged(int)', self.onViewSizeChanged)
self.updateViewSize()
self.onLockViewSize()
self.recordTimer = QtCore.QTimer()
self.recordTimer.connect('timeout()', self.onRecordTimer)
self.fpsCounter = FPSCounter()
self.eventFilter = PythonQt.dd.ddPythonEventFilter()
self.ui.scrollArea.installEventFilter(self.eventFilter)
self.eventFilter.addFilteredEventType(QtCore.QEvent.Resize)
self.eventFilter.connect('handleEvent(QObject*, QEvent*)', self.onEvent)
self.subscribers = lcmUtils.addSubscriber('DRAKE_VIEWER_DRAW', lcmrl.viewer_draw_t, self.onViewerDraw)
def __init__(self, view, robotSystem):
self.view = view
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(":/ui/ddFrameVisualization.ui")
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
# self.botFrameUpdater = BotFrameUpdater(self.ui.botFramesListWidget)
self.linkFrameUpdater = LinkFrameUpdater(robotSystem.robotStateModel,
self.ui.linkFramesListWidget)
self.eventFilter = PythonQt.dd.ddPythonEventFilter()
self.ui.scrollArea.installEventFilter(self.eventFilter)
self.ui.allFramesCheckBox.connect("stateChanged(int)",
self.toggleAllFrames)
self.eventFilter.addFilteredEventType(QtCore.QEvent.Resize)
self.eventFilter.connect("handleEvent(QObject*, QEvent*)",
self.onEvent)
def __init__(self, pfgrasper, _prevParent, imageView, imagePicker,
cameraview):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddPFGrasp.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
self.ui = WidgetDict(self.widget.children())
self._updateBlocked = True
# main states
self.pfgrasper = pfgrasper
# for image overlay function
self._prevParent = _prevParent
self.imageView = imageView
self.imagePicker = imagePicker
self.cameraview = cameraview
#Connect signals
self.ui.showLHandCameraButton.clicked.connect(
self.showLHandCameraButtonClicked)
self.ui.showRHandCameraButton.clicked.connect(
self.showRHandCameraButtonClicked)
self.ui.startStepButton.clicked.connect(self.startStepButtonClicked)
self.ui.startAutoButton.clicked.connect(self.startAutoButtonClicked)
self.ui.runOneIterButton.clicked.connect(self.runOneIterButtonClicked)
self.ui.stopButton.clicked.connect(self.stopButtonClicked)
self.ui.startGraspButton.clicked.connect(self.startGraspButtonClicked)
self.ui.spawnDrillButton.clicked.connect(self.spawnDrillButtonClicked)
self.ui.projectDrillButton.clicked.connect(
self.projectDrillButtonClicked)
self.ui.reachDrillButton.clicked.connect(self.reachDrillButtonClicked)
self.ui.graspDrillButton.clicked.connect(self.graspDrillButtonClicked)
self.ui.apply3DFitButton.clicked.connect(self.apply3DFitButtonClicked)
def __init__(self, planPlayback, playbackRobotModel,
playbackJointController, robotStateModel,
robotStateJointController, manipPlanner):
self.planPlayback = planPlayback
self.playbackRobotModel = playbackRobotModel
self.playbackJointController = playbackJointController
self.robotStateModel = robotStateModel
self.robotStateJointController = robotStateJointController
self.manipPlanner = manipPlanner
manipPlanner.connectPlanCommitted(self.onPlanCommitted)
manipPlanner.connectUseSupports(self.updateButtonColor)
self.autoPlay = True
#self.useOperationColors()
self.useDevelopmentColors()
self.planFramesObj = None
self.plan = None
self.poseInterpolator = None
self.startTime = 0.0
self.endTime = 1.0
self.animationTimer = TimerCallback()
self.animationTimer.targetFps = 60
self.animationTimer.callback = self.updateAnimation
self.animationClock = SimpleTimer()
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/ui/ddPlaybackPanel.ui')
assert uifile.open(uifile.ReadOnly)
self.widget = loader.load(uifile)
uifile.close()
self.ui = WidgetDict(self.widget.children())
self.ui.viewModeCombo.connect('currentIndexChanged(const QString&)',
self.viewModeChanged)
self.ui.playbackSpeedCombo.connect(
'currentIndexChanged(const QString&)', self.playbackSpeedChanged)
self.ui.interpolationCombo.connect(
'currentIndexChanged(const QString&)', self.interpolationChanged)
self.ui.samplesSpinBox.connect('valueChanged(int)',
self.numberOfSamplesChanged)
self.ui.playbackSlider.connect('valueChanged(int)',
self.playbackSliderValueChanged)
self.ui.animateButton.connect('clicked()', self.animateClicked)
self.ui.hideButton.connect('clicked()', self.hideClicked)
self.ui.executeButton.connect('clicked()', self.executeClicked)
self.ui.executeButton.setShortcut(QtGui.QKeySequence('Ctrl+Return'))
self.ui.stopButton.connect('clicked()', self.stopClicked)
self.ui.executeButton.setContextMenuPolicy(QtCore.Qt.CustomContextMenu)
self.ui.executeButton.connect(
'customContextMenuRequested(const QPoint&)',
self.showExecuteContextMenu)
self.setPlan(None)
self.hideClicked()
def showDialog(mainWindow, grid, gridProperties):
loader = QtUiTools.QUiLoader()
uifile = QtCore.QFile(':/LidarViewPlugin/vvGridAdjustmentDialog.ui')
if not uifile.open(uifile.ReadOnly):
print 'error opening file'
return
dialog = loader.load(uifile, mainWindow)
uifile.close()
def w(name):
for widget in dialog.children():
if widget.objectName == name:
return widget
w('SensorUpX').setValue(grid.Normal[0])
w('SensorUpY').setValue(grid.Normal[1])
w('SensorUpZ').setValue(grid.Normal[2])
w('SensorOriginX').setValue(-grid.Origin[0])
w('SensorOriginY').setValue(-grid.Origin[1])
w('SensorOriginZ').setValue(-grid.Origin[2])
w('GridResolution').setValue(grid.Scale)
w('GridWidth').setValue(grid.Scale * grid.GridNbTicks)
w('GridLineWidth').setValue(grid.LineWidth)
r = grid.Color[0] * 255
g = grid.Color[1] * 255
b = grid.Color[2] * 255
w('GridColorPicker').setStyleSheet("background-color: rgb(" + str(r) +
"," + str(g) + "," + str(b) + ");")
w('ShouldPropertiesPersist').checked = gridProperties.Persist
def pickColor():
colorPicker = QtGui.QColorDialog()
qColor = colorPicker.getColor()
if not qColor.isValid():
return False
r = qColor.red()
g = qColor.green()
b = qColor.blue()
w('GridColorPicker').setStyleSheet("background-color: rgb(" + str(r) +
"," + str(g) + "," + str(b) + ");")
w('GridColorPicker').connect('clicked()', pickColor)
accepted = dialog.exec_()
if not accepted:
return False
grid.Normal = [
w('SensorUpX').value,
w('SensorUpY').value,
w('SensorUpZ').value
]
grid.Origin = [
-w('SensorOriginX').value, -w('SensorOriginY').value,
-w('SensorOriginZ').value
]
grid.Scale = w('GridResolution').value
grid.GridNbTicks = int(
math.ceil(w('GridWidth').value / w('GridResolution').value))
grid.LineWidth = w('GridLineWidth').value
color = w('GridColorPicker').palette.color(QtGui.QPalette.Background)
grid.Color = [color.redF(), color.greenF(), color.blueF()]
gridProperties.Persist = w('ShouldPropertiesPersist').checked
return True